[GitHub] [incubator-nuttx-apps] xiaoxiang781216 commented on a diff in pull request #1230: system/uorb: support uorb, include uorb wraper, unit test, uorb_listener, topic definition

[GitBox <gi...@apache.org>]

xiaoxiang781216 commented on code in PR #1230:
URL: https://github.com/apache/incubator-nuttx-apps/pull/1230#discussion_r928222373


##########
system/uorb/uORB/uORB.c:
##########
@@ -90,18 +89,16 @@ static int orb_open(FAR const struct orb_metadata *meta, bool advertiser,
           return ret;
         }
 
-      first_open = true;
-    }
-
-  fd = open(path, O_CLOEXEC | (advertiser ? O_WRONLY : O_RDONLY));
-  if (fd < 0)
-    {
-      return fd;
-    }
+      fd = open(path, flags);
+      if (fd < 0)
+        {
+          return fd;
+        }
 
-  if (first_open)
-    {
-      ioctl(fd, SNIOC_SET_USERPRIV, (unsigned long)(uintptr_t)meta);
+      if (ret != -EEXIST)

Review Comment:
   use errno instead



##########
system/uorb/uORB/uORB.c:
##########
@@ -0,0 +1,314 @@
+/****************************************************************************
+ * apps/system/uorb/uORB/uORB.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <errno.h>
+#include <fcntl.h>
+#include <limits.h>
+#include <poll.h>
+#include <stdio.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: orb_open
+ *
+ * Description:
+ *   Open device node as advertiser / subscriber, regist node and save meta
+ *   in driver for first user, set buffer number for advertisers.
+ *
+ * Input Parameters:
+ *   meta         The uORB metadata (usually from the ORB_ID() macro)
+ *   advertiser   Whether advertiser or subscriber.
+ *   instance     Instance number to open.
+ *   queue_size   Maximum number of buffered elements.
+ *
+ * Returned Value:
+ *   fd on success, otherwise returns negative value and set errno.
+ ****************************************************************************/
+
+static int orb_open(FAR const struct orb_metadata *meta, bool advertiser,
+                    int instance, unsigned int queue_size)
+{
+  char path[PATH_MAX];
+  bool first_open = false;
+  int fd;
+  int ret;
+
+  snprintf(path, PATH_MAX, ORB_SENSOR_PATH"%s%d", meta->o_name, instance);
+
+  /* Check existance before open */
+
+  ret = access(path, F_OK);
+  if (ret < 0)
+    {
+      struct sensor_reginfo_s reginfo;
+
+      reginfo.path    = path;
+      reginfo.esize   = meta->o_size;
+      reginfo.nbuffer = queue_size;
+
+      fd = open(ORB_USENSOR_PATH, O_WRONLY);
+      if (fd < 0)
+        {
+          return fd;
+        }
+
+      /* Register new device node */
+
+      ret = ioctl(fd, SNIOC_REGISTER, (unsigned long)(uintptr_t)&reginfo);
+      close(fd);
+      if (ret < 0 && ret != -EEXIST)

Review Comment:
   check errno instead



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